Methods and devices for auto return of articulated end effectors

ABSTRACT

Various exemplary methods and devices for auto return of articulated end effectors are provided. In general, a surgical device can include an end effector configured to articulate. The device can include an actuator configured to be actuated to move the end effector from an articulated position to an unarticulated position. In at least some embodiments, the actuator can also be configured to be actuated to move the end effector from the unarticulated position to the articulated position. In at least some embodiments, the device can include the actuator and include another actuator configured to rotate the end effector about a longitudinal axis of an elongate shaft having the end effector at a distal end thereof. In at least some embodiments, the device can include the actuator and include another actuator configured to articulate the end effector from the unarticulated position to the articulated position.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a divisional of U.S. Ser. No. 16/444,537filed Jun. 18, 2019, entitled “METHODS AND DEVICES FOR AUTO RETURN OFARTICULATED END EFFECTORS,” which is a divisional of U.S. patentapplication Ser. No. 14/943,451 (now U.S. Pat. No. 10,335,129) filedNov. 17, 2015, entitled “METHODS AND DEVICES FOR AUTO RETURN OFARTICULATED END EFFECTORS,” which are hereby incorporated by referencein their entireties.

FIELD

Methods and devices are provided for auto return of articulated endeffectors.

BACKGROUND

Endoscopic surgical instruments are often preferred over traditionalopen surgical devices since a smaller incision, or incisions, associatedwith endoscopic surgical techniques tends to reduce the post-operativerecovery time and complications. Consequently, significant developmenthas gone into a range of endoscopic surgical instruments that aresuitable for precise placement of a distal end effector at a desiredsurgical site through a cannula of a trocar. These distal end effectorsengage the tissue in a number of ways to achieve a diagnostic ortherapeutic effect (e.g., endocutter, grasper, cutter, staplers, clipapplier, access device, drug/gene therapy delivery device, and energydevice using ultrasound, radiofrequency (RF), laser, etc.).

Some minimally invasive procedures can require that a working end of anendoscopic surgical instrument, which is inserted into the body, bearticulated to angularly reorient the working end relative to thetissue. During such a procedure, for example, it is often necessary toreorient the working end such that jaws at the working end are at anangle relative to a shaft of the surgical instrument, while stillallowing the jaws to open and close to grasp tissue. However, it can betime consuming to return the working end to its original, non-angledposition. Removal of the surgical instrument from the patient with theworking end in its original, non-angled position may therefore bedelayed. Also, it can be time consuming to move the working end frombeing articulated in one direction (e.g., left) to an opposite direction(e.g., right). The surgical procedure may thus proceed slower thandesired.

Accordingly, there remains a need for methods and devices for return ofarticulated end effectors.

SUMMARY

In general, methods and devices for auto return of articulated endeffectors are provided.

In one aspect, a surgical device is provided that in one embodimentincludes a handle having an elongate shaft extending distally therefromwith an end effector at a distal end of the elongate shaft. The endeffector has first and second jaws configured to engage tissuetherebetween. The surgical device also includes an actuation assemblyhaving first and second movable members and an actuator. The first andsecond movable members are operatively coupled to the end effector suchthat axial translation of the first and second movable members causesthe end effector to move between a first orientation, in which the endeffector is axially aligned with the elongate shaft, and a secondorientation, in which the end effector is angularly oriented relative tothe elongate shaft. The actuator is engaged with the first and secondmovable members such that rotation of the actuator is effective to causeaxial translation of the first and second movable members. When the endeffector is in the second orientation, the first and second movablemembers can selectively freely axially translate relative to theactuator to cause the end effector to move from the second orientationto the first orientation.

The surgical device can vary in any number of ways. For example, thesurgical deice can include a second actuator coupled to the handle, andactuation of the second actuator can be configured to disengage thefirst and second movable members from the actuator and thereby cause theend effector to move from the second orientation to first theorientation. The first and second movable members can each be threadablyengaged with the actuator when the end effector is in the secondorientation until the actuation of the second actuator, the secondactuator can be configured to be actuated with the end effector at anyangular orientation relative to the elongate shaft, and/or the actuatorcan include a rotatable knob and the second actuator can include aswitch.

For another example, the first and second movable members can beconfigured to be disengaged from the actuator with the end effector atany angular orientation relative to the elongate shaft.

For yet another example, the actuation of the actuator can includerotation of the actuator, and the first and second movable members canbe configured to automatically axially translate when the actuator isrotated beyond a predetermined threshold amount of rotation. The firstand second movable members can each be threadably engaged with theactuator until the actuator is rotated beyond the predeterminedthreshold amount of rotation.

For still another example, the first and second movable members can beconfigured to be disengaged from the actuator only once the end effectorhas reached a maximum amount of angular movement relative to theelongate shaft.

For yet another example, the actuation of the actuator can includerotation of the actuator, and the actuator can be configured to requiremore force to rotate when the end effector is in the second orientationthan when the end effector is in the first orientation.

For still another example, the surgical device can include at least onebias element configured to bias the first and second movable members toa default axial position relative to the actuator, and the first andsecond movable members can be configured to freely axially translate tothe default axial position when the end effector is in the secondorientation.

For another example, the first and second members can be configured tobecome temporarily threadably disengaged from the actuator while the endeffector is moving from the second orientation to the first orientation.

For yet another example, the engagement of the first and second movablemembers with the actuator can include a threaded engagement.

For still another example, the surgical device can include first andsecond elongate members extending through the elongate shaft. The firstmovable member can include a first drum coupled to the first elongatemember, and the second movable member can include a second drum coupledto the second elongate member. The actuation of the actuator can beconfigured to simultaneously move the first drum in a first directionand cause axial translation of the first elongate member and move thesecond drum in a second direction and cause axial translation of thesecond elongate member. The axial translations of the first and secondelongate members can cause the end effector to move from the firstorientation to the second orientation. The second direction can beopposite to the first direction.

In another embodiment, a surgical device includes an elongate shafthaving a longitudinal axis, an end effector at a distal end of theelongate shaft, and a handle coupled to a proximal end of the elongateshaft and having an actuator disposed thereon. The end effector ismovable between a first position aligned along the longitudinal axis anda second position angularly oriented relative to the longitudinal axis.The actuator has a first mode in which movement of the end effectorbetween the first and second positions is controlled by rotation of theactuator, and the actuator has a second mode in which the actuator isoperatively disengaged from end effector such that the end effector canmove from the second position to the first position.

The surgical device can vary in any number of ways. For example, thesurgical device can include a second actuator configured to be actuatedso as to cause the actuator to move from the first mode to the secondmode and thereby move the end effector from the second position to thefirst position. The actuator can be configured to automatically returnto the first mode from the second mode, and/or the actuator can beconfigured to move from the first mode to the second mode with the endeffector at any non-zero angular orientation relative to the elongateshaft.

For another example, actuation of the actuator can include rotation ofthe actuator, and the actuation mechanism can be configured toautomatically move from the first mode to the second mode when theactuator is rotated beyond a predetermined threshold amount of rotation.The actuator can be configured to automatically return to the first modefrom the second mode, and/or actuation of the actuator can includerotation of the actuator and the actuator moving from the first mode tothe second mode can be in response to the actuator rotating past adetent.

In another aspect, a method for treating tissue is provided that in oneembodiment includes actuating an actuator on a handle of a surgicalinstrument to move an actuation mechanism threadably engaged with theactuator and thereby cause an end effector at a distal end of anelongate shaft of the surgical instrument to articulate from asubstantially zero angle relative to the elongate shaft to a non-zeroangle relative to the elongate shaft, the elongate shaft extendingdistally from the handle, manipulating the surgical instrument to causethe end effector to effect tissue, and disengaging the threadedengagement of the actuation mechanism and the actuator, thereby causingthe end effector to move from the non-zero angle to the substantiallyzero angle.

The method can vary in any number of ways. For example, disengaging thethreaded engagement of the actuation mechanism and the actuator caninclude actuating a second actuator on the handle of the surgicalinstrument. The first and second actuators can be independentlyactuatable.

For another example, the actuation of the actuator can include rotationof the actuator, and disengaging the threaded engagement of theactuation mechanism and the actuator can include rotating the actuatorbeyond a predetermined threshold amount of rotation.

BRIEF DESCRIPTION OF DRAWINGS

The embodiments described above will be more fully understood from thefollowing detailed description taken in conjunction with theaccompanying drawings. The drawings are not intended to be drawn toscale. For purposes of clarity, not every component may be labeled inevery drawing. In the drawings:

FIG. 1 is a side view of one embodiment of a surgical device;

FIG. 2 is a side view of a distal portion of the device of FIG. 1;

FIG. 3 is a perspective view of a distal portion of the device of FIG.1;

FIG. 4 is a perspective view of a distal portion of the device of FIG. 1with a flexible outer shell of the device omitted for clarity ofillustration;

FIG. 5 is another perspective view of the distal portion of the deviceof FIG. 4;

FIG. 6 is a perspective, partial view of a flexible outer shell andactuation shafts of the device of FIG. 1;

FIG. 7 is a perspective partially cross-sectional view of a proximalportion of the device of FIG. 1 with select elements of the deviceomitted for clarity of illustration;

FIG. 8 is a side partially transparent view of a proximal portion of thedevice of FIG. 1;

FIG. 9 is an exploded view of a proximal portion of the device of FIG. 1with select elements of the device omitted for clarity of illustration;

FIG. 10 is a perspective view of an actuator of the device of FIG. 1;

FIG. 11 is a side view of the actuator of FIG. 10;

FIG. 12 is a perspective cross-sectional view of the actuator of FIG.10;

FIG. 13 is a side cross-sectional view of the actuator of FIG. 10;

FIG. 14 is a side cross-sectional view of a portion of the device ofFIG. 1 within a handle thereof;

FIG. 15 is a perspective partially cross-sectional view of a proximalportion of the device of FIG. 1 with select elements of the deviceomitted for clarity of illustration;

FIG. 16 is a perspective partially transparent, partiallycross-sectional view of a portion of the device of FIG. 1 within thehandle thereof with select elements of the device omitted for clarity ofillustration;

FIG. 17 is a perspective partially transparent, partiallycross-sectional view of a portion of the device of FIG. 1 within thehandle thereof with select elements of the device omitted for clarity ofillustration;

FIG. 18 is a side cross-sectional view of a portion of the device ofFIG. 1 within a handle thereof with the actuator of FIG. 10 being in afirst position;

FIG. 19 is a side cross-sectional view of the portion of the device ofFIG. 18 with the actuator being in a second position;

FIG. 20 is a side cross-sectional view of the portion of the device ofFIG. 19 with the actuator being in a third position;

FIG. 21 is a side cross-sectional view of the portion of the device ofFIG. 20 with the actuator being in a fourth position;

FIG. 22 is a perspective view of the portion of the device of FIG. 21;

FIG. 23 is a partial perspective view of the portion of the device ofFIG. 21;

FIG. 24 is a side cross-sectional view of the portion of the device ofFIG. 21 with the actuator being in a fifth position;

FIG. 25 is another side cross-sectional view of the portion of thedevice of FIG. 21 with the actuator being in the fifth position;

FIG. 26 is a side cross-sectional view of a portion of the actuator ofFIG. 10 showing movement of pins;

FIG. 27 is a partial perspective view of another embodiment of asurgical device with select elements of the device omitted for clarityof illustration;

FIG. 28 is a side cross-sectional view of a proximal portion of thedevice of FIG. 27;

FIG. 29 is a side partially cross-sectional view of a proximal portionof the device of FIG. 27 with select elements of the device omitted forclarity of illustration;

FIG. 30 is a exploded view of a proximal portion of the device of FIG.27 with select elements of the device omitted for clarity ofillustration;

FIG. 31 is a perspective partially cross-sectional view of a proximalportion of the device of FIG. 27;

FIG. 32 is a perspective cross-sectional view of a portion of the deviceof FIG. 27 within a handle thereof;

FIG. 33 is a perspective partially transparent view of a portion of thedevice of FIG. 27 within a handle thereof;

FIG. 34 is a perspective view of a drum of the device of FIG. 27;

FIG. 34A is a perspective view of a support member, a cam, and biaselements of the device of FIG. 27;

FIG. 35 is a perspective view of a thread block of the device of FIG.27;

FIG. 36 is a perspective view of an actuator of the device of FIG. 27;

FIG. 37 is a perspective view of a reset bar of the device of FIG. 27;

FIG. 38 is a partially transparent, cross-sectional end view of thedevice of FIG. 27 with the actuator of FIG. 36 in a first positon;

FIG. 39 is a perspective view of the device of FIG. 38;

FIG. 40 is a partially transparent, cross-sectional end view of thedevice of FIG. 38 with the actuator in a second positon;

FIG. 41 is a perspective view of the device of FIG. 40;

FIG. 42 is a side cross-sectional view of a portion of the device ofFIG. 27 within a handle thereof with the actuator of FIG. 36 in a firstpositon and a second actuator in a first position;

FIG. 43 is a side cross-sectional view of a portion of the device ofFIG. 42 with the second actuator in a second position;

FIG. 44 is a side cross-sectional view of a portion of the device ofFIG. 43 with the actuator in a second position; and

FIG. 45 is a side cross-sectional view of a portion of the device ofFIG. 44 with the actuator in the second position.

DETAILED DESCRIPTION

Certain exemplary embodiments will now be described to provide anoverall understanding of the principles of the structure, function,manufacture, and use of the devices and methods disclosed herein. One ormore examples of these embodiments are illustrated in the accompanyingdrawings. Those skilled in the art will understand that the devices andmethods specifically described herein and illustrated in theaccompanying drawings are non-limiting exemplary embodiments and thatthe scope of the present invention is defined solely by the claims. Thefeatures illustrated or described in connection with one exemplaryembodiment may be combined with the features of other embodiments. Suchmodifications and variations are intended to be included within thescope of the present invention.

Further, in the present disclosure, like-named components of theembodiments generally have similar features, and thus within aparticular embodiment each feature of each like-named component is notnecessarily fully elaborated upon. Additionally, to the extent thatlinear or circular dimensions are used in the description of thedisclosed systems, devices, and methods, such dimensions are notintended to limit the types of shapes that can be used in conjunctionwith such systems, devices, and methods. A person skilled in the artwill recognize that an equivalent to such linear and circular dimensionscan easily be determined for any geometric shape. Sizes and shapes ofthe systems and devices, and the components thereof, can depend at leaston the anatomy of the subject in which the systems and devices will beused, the size and shape of components with which the systems anddevices will be used, and the methods and procedures in which thesystems and devices will be used.

Various exemplary methods and devices for auto return of articulated endeffectors are provided. In general, a surgical device can include an endeffector configured to articulate. The device can include an actuatorconfigured to be actuated to move the end effector from an articulatedposition to an unarticulated position. The end effector may thus bequickly and predictably returned to its unarticulated positon during theperformance of a surgical procedure, which may allow for fasterrepositioning of the end effector to different articulated positionsand/or allow the device to be removed more quickly from a patient. Aswill be appreciated by a person skilled in the art, end effectors ofsurgical devices are typically in unarticulated positions during removalof the device from a body of the patient at least in minimally invasivesurgical procedures.

The actuator configured to be actuated to move the end effector from anarticulated position to an unarticulated position can have a variety ofconfigurations. In at least some embodiments, the actuator can also beconfigured to be actuated to move the end effector from theunarticulated position to the articulated position. The device may thusbe simple to use since one control can be used for both angling the endeffector toward a longitudinal axis of an elongate shaft having the endeffector at a distal end thereof and angling the end effector away fromthe longitudinal axis of the elongate shaft.

In at least some embodiments, the device can include the actuatorconfigured to be actuated to move the end effector from an articulatedposition to an unarticulated position and include another actuatorconfigured to rotate the end effector about a longitudinal axis of anelongate shaft having the end effector at a distal end thereof such thatthe device includes an actuator for end effector auto return and anotheractuator for rotation. Having two actuators for auto return and rotationmay help prevent unintended rotation and help prevent unintended autoreturn since it can be clear to a user of the device that one actuatoris for auto return while another actuator is for rotation. The endeffector may thus be less likely to move in an unexpected, potentiallydangerous way during use in a body of a patient.

In at least some embodiments, the device can include the actuatorconfigured to be actuated to move the end effector from an articulatedposition to an unarticulated position and include another actuatorconfigured to articulate the end effector from the unarticulatedposition to the articulated position. Having two actuators for autoreturn and articulation may help prevent unintended auto return and helpprevent unintended articulation since it can be clear to a user of thedevice that one actuator is for auto return while another actuator isfor angling the end effector from being unarticulated. The end effectormay thus be less likely to move in an unexpected, potentially dangerousway during use in a body of a patient. Having two actuators for autoreturn and articulation may allow the end effector to be moved to theunarticulated position from any articulated position, e.g., at anynon-zero angle relative to the elongate shaft, which may speedrepositioning of the end effector.

FIG. 1 illustrates one embodiment of a surgical device 2 that caninclude a proximal handle portion 4 having a shaft assembly 6 extendingdistally therefrom. The device 2 can generally be configured and usedsimilar to surgical devices having articulatable end effectors describedin U.S. patent application Ser. No. 14/658,944 entitled “Methods andDevices for Actuating Surgical Instruments” filed on Mar. 16, 2015,which is hereby incorporated by reference in its entirety.

As shown in FIGS. 1-3, the device 2 can include a working element 8,also referred to herein as an “end effector,” coupled to a distal end ofthe shaft assembly 6. The end effector 8 can be coupled to the shaftassembly 6 at a pivot joint 10. A proximal end of the end effector 8 canbe pivotally coupled to the joint 10 at the distal end of the shaftassembly 6.

The end effector 8 can have a variety of sizes, shapes, andconfigurations. As shown in FIGS. 1-3, the end effector 8, including thefirst and second jaws 12 a, 12 b, can be disposed at a distal end of thesurgical device 2. The end effector 8 in this illustrated embodimentincludes a tissue grasper having a pair of opposed jaws 12 a, 12 bconfigured to move between open and closed positions. The end effector 8can have other configurations, e.g., scissors, a babcock, a retractor,etc. In an exemplary embodiment, the end effector 8 can be rigid. Theend effector 8 can include the first, top, or upper jaw 12 a and thesecond, bottom, or lower jaw 12 b pivotally connected together at thepivot joint 10.

One or both of the first jaw 12 a and the second jaw 12 b can includespacers 30 on facing tissue engagement surfaces thereof. The spacers 30can be configured to maintain a minimum gap of space between the jaws 12a, 12 b, e.g., between the tissue engagement surfaces thereof, when thejaws 12 a, 12 b are in the closed position. The gap of space can helpprevent electrodes 24, discussed further below, from becoming damagedand/or from creating a closed circuit loop between the jaws 12 a, 12 b,as opposed to a closed circuit loop with tissue engaged between the jaws12 a, 12 b. In this illustrated embodiment, only the top jaw includesspacers 30 extending therefrom toward the bottom jaw 12 b, as shown inFIG. 2. In other embodiments, only the bottom jaw may include spacers,or both the top and bottom jaws may include spacers.

One or both of the jaws 12 a, 12 b can include the electrodes 24, whichcan be configured to contact tissue positioned between the jaws 12 a, 12b and to apply energy thereto. The electrodes 24 are arrangedlongitudinally along the bottom jaw 12 b in this illustrated embodiment,but the electrodes 24 can be arranged in any of a variety of ways on theupper jaw 12 a and/or the lower jaw 12 b.

The handle portion 4 can have a variety of sizes, shapes, andconfigurations. The handle portion 4 can include a main housing 32,which can house a variety of elements therein and can have some elementsaccessible outside thereof, such as a first actuator 13, a secondactuator 14, a third actuator 16, a fourth actuator 18, and a fifthactuator 20.

The first actuator 13 can be configured to effect the opening andclosing of the opposed jaws 12 a, 12 b, e.g., movement of the jaws 12 a,12 b toward and away from one another. The jaws 12 a, 12 b in FIGS. 1-5are shown in the open position. As in this illustrated embodiment, theupper jaw 12 a can be configured to move relative to the bottom jaw 12b, which can remain stationary relative to the shaft assembly 6, toeffect the opening and closing of the end effector 8. In otherembodiments, in order to effect opening and closing of the end effector,the bottom jaw can be configured to move relative to the upper jaw, orboth the upper and lower jaws can be configured to move relative to theshaft assembly.

In an exemplary embodiment, the first actuator 13 can include a gripperarm, also referred to herein as a “closure trigger” and a “movablehandle.” The closure trigger 13 can, in other embodiments, havedifferent sizes, shapes, and configurations, e.g., no thumb rests,multiple finger loops, different arcuate shape, etc. As shown in FIG. 1,the closure trigger 13 can be pivotally attached to the main housing 32.The closure trigger 13 can be configured to move toward and away fromthe main housing 32, thereby causing opening and closing of the endeffector 8, as discussed further below.

The second actuator 14 can be configured to effect articulation of theend effector 8, e.g., movement of both jaws 12 a, 12 b in a samedirection relative to a longitudinal axis A of the shaft assembly 6. Thearticulation can be independent of the opening and closing of the jaws12 a, 12 b. The end effector 8 in FIGS. 1-5 is shown in an unarticulatedposition, e.g., at a substantially zero angle relative to thelongitudinal axis A. A person skilled in the art will appreciate thatthe end effector 8 may not be at precisely at a zero angle relative tothe longitudinal axis A of the shaft assembly 6 but nevertheless beconsidered to be at a substantially zero angle relative to thelongitudinal axis A of the shaft assembly 6 due to any one or morefactors, such as manufacturing tolerance and sensitivity of anglemeasurement devices. The second actuator 14 can be operatively connectedto an actuation mechanism, which can be disposed within the main housing32 and is discussed further below, such that actuation of the secondactuator 14, e.g., manual movement thereof by a user, can causearticulation of the end effector 8. In an exemplary embodiment, thesecond actuator 14 can be configured to be actuated so as to cause thejaws 12 a, 12 b to articulate in opposite directions D1, D2 (shown inFIG. 3) relative to the longitudinal axis A.

The second actuator 14 can have a variety of sizes, shapes, andconfigurations. As in this illustrated embodiment, the second actuator14 can include a rotatable knob. Rotation of the second actuator 14 inone direction (e.g., clockwise) can be configured to cause articulationof the end effector 8 in the first direction D1 (e.g., right) androtation of the second actuator 14 in the opposite direction (e.g.,counterclockwise) can be configured to cause articulation of the endeffector 8 in the second direction D2 (e.g., left). The knob 14 can berigid. The knob 16 can include a moveable ring, as shown in FIG. 1. Theknob 14 can include one or more finger depressions on an exteriorsurface thereof, as in this illustrated embodiment. The fingerdepressions can facilitate manual movement of the knob 14 using one ormore fingers seated in the finger depressions. As in this illustratedembodiment, the finger depressions can extend around an entirecircumference of the knob's exterior surface.

The third actuator 16 can be configured to rotate the shaft assembly 6and the end effector 8 about the longitudinal axis A of the shaftassembly 6. The third actuator 16 includes a rotatable knob in thisillustrated embodiment that can be rotated about the longitudinal axisA, but the third actuator 16 can have a variety of other configurations,e.g., a lever, a button, a movable handle, etc. As in this illustratedembodiment, the third actuator 16 can be configured to continuously andrepeatedly rotate the shaft assembly 6 and the end effector 8 360° inboth clockwise and counterclockwise directions. In other words, theshaft assembly 6 can be configured for unlimited bi-directionalrotation. As will be appreciated by a person skilled in the art, theshaft assembly 6 and the end effector 8 can be rotated less than 360° asdesired during performance of a surgical procedure (e.g., rotated 20°,rotated 90°, rotated 150°, etc.) and can be rotated more than 360° asdesired during performance of a surgical procedure (e.g., rotated 450°,rotated 480°, rotated 720°, etc.).

The fourth actuator 18 can be configured to translate a cutting element26 (e.g., a knife, a blade, etc.) along the end effector 8. The cuttingelement 26 can be configured to cut tissue positioned between the jaws12 a, 12 b, as will be appreciated by a person skilled in the art. Asshown in FIGS. 3 and 4, the jaws 12 a, 12 b can include an elongate slot28 therein (the slot in the upper jaw 12 a is obscured in FIGS. 3 and 4)through which the cutting element 26 can be configured to slide.

As in this illustrated embodiment, the surgical device 2 can be poweredand be configured as an electrosurgical tool configured to apply energyto tissue, such as radiofrequency (RF) energy. The handle portion 4 canhave a power cord 22 extending proximally therefrom that can beconfigured to supply electrical power to the device 2, such as byconnecting to a generator, by plugging into an electrical outlet, etc.The fifth actuator 20 can be configured to turn on and off theapplication of the energy, which can be delivered to tissue via theelectrodes 24. The fifth actuator 20 includes a button in thisillustrated embodiment, but the fifth actuator 20 can have otherconfigurations, e.g., a knob, a lever, a movable handle, a switch, etc.In other embodiments, the surgical device can be unpowered, e.g., not beconfigured to apply energy to tissue.

The shaft assembly 6 can have a variety of sizes, shapes, andconfigurations. The shaft assembly 6 can have any longitudinal length,although in an exemplary embodiment it can be long enough to allow thehandle portion 4 to be manipulated outside a patient's body while theshaft assembly 6 extends through an opening in the body with the endeffector 8 disposed within a body cavity, e.g., have a longitudinallength of about 33 cm. In this way, the end effector 8 can be easilymanipulated when the device 2 is in use during a surgical procedure. Theshaft assembly 6 can have any diameter. For example, the shaftassembly's diameter can be less than or equal to about 15 mm, e.g., lessthan or equal to about 10 mm, less than or equal to about 7 mm, lessthan or equal to about 5 mm, etc., which can allow for insertion of theshaft assembly 6 through an minimally invasive access device, such asduring a laparoscopic surgical procedure. The end effector 8 mated tothe shaft assembly's distal end can have a diameter equal to or lessthan the shaft assembly's diameter, at least when the jaws 12 a, 12 bare in the closed position, which can facilitate insertion of thedevice's distal portion into a patient's body.

As in this illustrated embodiment, the shaft assembly 6 can include anouter elongate shaft 34 (also referred to herein an “outer shell”) andat least one actuation shaft extending between the handle portion 4 andthe end effector 8. The one or more actuation shafts can be configuredto facilitate articulation of the end effector 8, to facilitateopening/closing of the end effector 8, and/or to facilitate movement ofthe cutting element 26 along the end effector 8. As in this illustratedembodiment, the device 2 can include first and second actuation shaftsconfigured to facilitate articulation of the end effector 8, a thirdactuation shaft configured to facilitate opening/closing of the endeffector 8, and a fourth actuation shaft configured to facilitatemovement of the cutting element 26 along the end effector 8. In otherembodiments, a surgical device can include any combination of theactuation shafts configured to facilitate articulation of the endeffector, opening/closing of the end effector, and movement of thecutting element along the end effector, e.g., only include the first andsecond actuation shafts; only include the fourth actuation shaft;include the first, second, and third actuation shafts; include the thirdand fourth actuation shafts; etc. The actuation shafts can each haverelatively small diameters, which can facilitate their inclusion in adevice configured to use in a minimally invasive surgical procedure. Inan exemplary embodiment, the actuation shafts can each have a diameterof about 0.04 in. In an exemplary embodiment, the outer shell 34 canhave a diameter in a range of about 0.2 in. to 0.221 in. A personskilled in the art will appreciate that an element may not have adiameter of a precisely value but nevertheless be considered to have adiameter of about that value due to, e.g., manufacturing tolerances.

As in this illustrated embodiment, each of the actuation shafts caninclude a distal elongate member and a proximal elongate member having adistal end attached to a proximal end of the distal elongate member. Thedistal end of the proximal elongate member can be attached to theproximal end of the distal elongate member in a variety of ways, such asby welding, crimping, gluing, threading, swaging, stamping, trapping,riveting, etc. In an exemplary embodiment, the distal end of theproximal elongate member can be attached to the proximal end of thedistal elongate member by welding or crimping, which can be costeffective for manufacturing and/or which can be a relatively simpleprocess during manufacturing. The proximal elongate member can be arigid member (e.g., generally unable to flex or bend without cracking,breaking, or otherwise becoming damaged), and the distal elongate membercan be a flexible member (e.g., generally able to flex or bend withoutcracking, breaking, or otherwise becoming damaged). The actuation shaftcan be made from one or more materials such as titanium, stainlesssteel, a stranded cable, etc. The rigid and flexible members of theactuation shaft can be made from the same material or can be made fromdifferent materials. In an exemplary embodiment, the actuation shaft canhave a yield strength in a range of about 40 to 200 ksi. The rigidnature of the proximal elongate member can facilitate stability of thedevice 2, which can help ease insertion of the device 2 into a patient'sbody directly or through an access device such as a trocar. Thisproperty of the proximal elongate member can facilitate smooth, stablelongitudinal translation of the actuation shaft relative to the outershaft 34, discussed further below. The rigid nature of the proximalelongate member can facilitate making actuation shafts in a variety oflongitudinal lengths for different surgical devices since the proximalelongate member can be cut to a desired longitudinal length, asdiscussed further below. The flexible nature of the distal elongatemember can accommodate articulation of the end effector 8 since thedistal elongate member can be configured to bend so as to facilitatearticulation of the end effector 8 coupled thereto. The actuation shafthaving a rigid portion and a flexible portion can ease manufacturing ofthe device 2 since an entirely flexible actuation shaft need not beformed, such as by stamping, which is traditionally more expensive thanmethods to form a rigid member, such as molding or casting. Theactuation shaft having a rigid portion and a flexible portion can easemanufacturing of surgical devices since distal elongate members can allbe formed with a same longitudinal length and proximal elongate memberscan be formed at selected, different longitudinal lengths, therebyallowing formation of actuation shafts having different longitudinallengths appropriate for use in different sized devices and/or reducingcosts since it is traditionally more expensive to manufacture a flexiblemember for actuation of a surgical device than to form a rigid memberfor actuation of a surgical device.

The proximal and distal elongate members can have a variety ofconfigurations. The proximal elongate member can be rigid, as mentionedabove, and can include an elongate rod (as in this illustratedembodiment), an elongate band, etc. The distal elongate member can beflexible, as mentioned above, and can include an elongate rod, anelongate band (as in this illustrated embodiment), a cable, a wire, etc.The distal elongate member being a substantially planar band can helpconserve real estate at a distal portion of the device 2. A personskilled in the art will appreciate that a band may not be preciselyplanar but nevertheless be considered to be substantially planar due to,e.g., manufacturing tolerances.

As mentioned above, the device 2 in this illustrated embodiment includesfour actuation shafts, as shown in FIGS. 6 and 7. The first actuationshaft can be configured to facilitate articulation of the end effector 8and can include a first proximal elongate member 36 a, a first distalelongate member 38 a attached to the first proximal elongate member 36a, and a first elongate tube 40 a attached to the first proximalelongate member 36 a and having an inner lumen in which the firstproximal elongate member 36 a can be disposed. The second actuationshaft can be configured to facilitate articulation of the end effector 8and can include a second proximal elongate member 36 b, a second distalelongate member 38 b attached to the second proximal elongate member 36b, and a second elongate tube 40 b attached to the second proximalelongate member 36 b and having an inner lumen in which the secondproximal elongate member 36 b can be disposed. The first and secondelongate tubes 40 a, 40 b can help provide rigidity to the first andsecond actuation shafts, respectively, in proximal regions thereof,which can help take the positioning load of the respective actuationshafts instead of the first and second proximal elongate members 36 a,36 b bearing all the positioning load. The first and second elongatetubes 40 a, 40 b are enclosed in tubes in this illustrated embodiment,but the first and second elongate tubes can have one or more breaks oropenings therein in other embodiments. Proximal elongate members can beattached to their respective tubes in a variety of ways, such as bywelding, crimping, gluing, threading, swaging, stamping, trapping,riveting, etc. In an exemplary embodiment, the attachment can be viawelding or crimping, which can be cost effective for manufacturingand/or which can be a relatively simple process during manufacturing. Inthis illustrated embodiment, the proximal elongate members are welded totheir respective tubes.

The first and second actuation shafts can be operatively connected tothe device's second actuator 14 to facilitate articulation of the endeffector 8. The first and second actuation shafts can be operativelyconnected to the device's second actuator 14 in a variety of ways. As inthis illustrated embodiment, as shown in FIGS. 7 and 9, the device 2 caninclude a first stabilizing member 35 a configured to couple the firstactuation shaft to the second actuator 14, and can include a secondstabilizing member 35 b configured to couple the second actuation shaftto the second actuator 14. The first and second stabilizing members 35a, 35 b can have a variety of configurations, but in an exemplaryembodiment, they are the same as one another. The first stabilizingmember 35 a and the second stabilizing member 36 b can each include apair of washers 33 and a clip 31 coupled thereto. The pair of washers 33can be ring-shaped, and the clip 31 (which in this illustratedembodiment includes two clips) can be sandwiched therebetween, as inthis illustrated embodiment. As in this illustrated embodiment, thefirst clip 31 can be configured to clip to the first tube 40 a of thefirst actuation shaft, and the second clip 31 can be configured can beconfigured to clip to the second tube 40 b of the second actuationshaft. As in this illustrated embodiment, the first tube 40 a can have anotch (not shown) formed therein configured to receive the first clip 31therein, and the second tube 40 b can have a notch (not shown) formedtherein configured to receive the second clip 31 therein.

The third actuation shaft can be configured to facilitate opening andclosing of the jaws 12 a, 12 b and can include a third proximal elongatemember 36 c, a third distal elongate member 38 c attached to the thirdproximal elongate member 36 c, and a third elongate tube 40 c (see FIG.9) having an inner lumen in which the third proximal elongate member 36c can be disposed. The third actuation shaft can be operativelyconnected to the first actuator 13 in a way such that actuation of thefirst actuator 13, e.g., movement of the closure trigger 13, can causeopening and closing of the end effector 8. Movement of the closuretrigger 13 from an open position shown in FIGS. 1, 7, and 8, in whichthe end effector 8 is open, to a closed position, in which the endeffector 8 is closed, can be achieved by moving the closure trigger 13toward the main housing 32 can cause the third actuation shaft, and thethird actuation shaft's third tube, to move proximally. Likewise,movement of the closure trigger 13 from the closed position to the openposition can cause the end effector 8 to open. The third actuation shaftcan be operatively connected to the first actuator 13 in a variety ofways, such as by using a stabilizing member similar to the stabilizingmembers described herein.

As shown in FIG. 8, the device 2 can be configured to lock the closuretrigger 13 in the closed position, such as by the closure trigger 13including a latch 13 a configured to engage a corresponding latch 15 aon the housing 32, e.g., on a stationary handle 15 thereof, when theclosure trigger 13 is drawn close enough thereto so as to lock theclosure trigger 13 in position relative to the housing 32, e.g., thestationary handle 15. The closure trigger latch 13 a can be configuredto be manually released by a user so as to unlock and release theclosure trigger 13. A bias spring 17 included in the housing 32 can becoupled to the closure trigger 13 and cause the closure trigger 13 toopen, e.g., move away from the stationary handle 15, when the closuretrigger 13 is unlocked.

The fourth actuation shaft can be configured to facilitate movement ofthe cutting element 26 through the end effector 8 and can include afourth proximal elongate member 36 d, a fourth distal elongate member 38d attached to the fourth proximal elongate member 36 d, and a fourthelongate tube 40 d (see FIG. 9) having an inner lumen in which thefourth proximal elongate member 36 d can be disposed. The fourthactuation shaft can be operatively connected to the fourth actuator 18such that actuation of the fourth actuator 18 can be configured to causemovement of the fourth actuation shaft and thereby move the cuttingelement 26 along the end effector 8. The fourth actuation shaft can beoperatively connected to the fourth actuator 18 in a variety of ways. Asin this illustrated embodiment, the device 2 can include anotherstabilizing member (obscured in the figures) configured to couple thefourth actuation shaft to the fourth actuator 18. This stabilizingmember can be configured similar to the stabilizing members describedherein, and can include a pair of washers and a clip coupled theretothat can be configured to clip to the fourth tube 40 d of the fourthactuation member. The fourth tube 40 d can have a notch (not shown)formed therein configured to receive the third clip therein, as in thisillustrated embodiment.

The fifth actuator 20 can be operatively connected to a conductive lead39 (shown in FIG. 7 and in FIG. 4 with a distal portion thereof absentto ease illustration of other parts of the device 2), which in thisillustrated embodiment includes an RF cable, configured to be inelectrical communication with the power cord 22 and with the electrodes24. The actuation of the fifth actuator 20, e.g., pushing the button,can be configured to close a circuit and thereby allow power to beprovided to the RF cable 39, which can accordingly allow power to besupplied to the electrodes 24.

The outer elongate shaft 34 of the shaft assembly 6 can have a varietyof sizes, shapes, and configurations. The outer shell 34 can beconfigured to stabilize movement of the actuation shafts duringactuation of various actuators. As shown in FIG. 4, the outer shell 34can include a plurality of inner lumens 34 a, 34 b, 34 c, 34 d, 34 eextending therethrough, as in this illustrated embodiment. The innerlumens 34 a, 34 b, 34 c, 34 d, 34 e can be isolated from one another, asin this illustrated embodiment, which can help allow elements disposedin each of the inner lumens 34 a, 34 b, 34 c, 34 d, 34 e to havedifferent loads without affecting others of the elements and/or can helpallow elements disposed in each of the inner lumens 34 a, 34 b, 34 c, 34d, 34 e to simultaneously move in different directions. In an exemplaryembodiment, a number of the inner lumens 34 a, 34 b, 34 c, 34 d, 34 ecan equal a number of actuator shafts, which in this illustratedembodiment is five, such that each of the actuator shafts can bedisposed in its own one of the inner lumens 34 a, 34 b, 34 c, 34 d, 34e. In other embodiments, the outer shell 34 can include a number ofinner lumens less than a number of actuator shafts. The outer shell 34can be configured to help protect the actuation shafts from an externalenvironment along a longitudinal length of the outer shell 34. Thefirst, second, third, and fourth actuation shafts can be configured tolongitudinally translate within their respective ones of the innerlumens 34 a, 34 b, 34 c, 34 d, proximally and distally, in response toactuation of their respective ones of the first, second, third, andfourth actuators 13, 14, 16, 18. In an exemplary embodiment, the firstand second actuation shafts configured to facilitate articulation can beslidably seated in ones of the inner lumens 34 a, 34 b on opposite sides(e.g., left and rights sides) of the outer shell 34, which canfacilitate articulation of the end effector 8 in opposite directions(e.g., left and right).

The device 2 can include a bend region 41 configured to facilitatearticulation of the end effector 8. The bend region can include aflexible outer shell 43, shown in FIG. 3. The flexible outer shell 43can, as a flexible member, be configured to flex or bend withoutcracking, breaking, or otherwise becoming damaged, which can facilitatearticulation of the end effector 8. The flexible outer shell 43 can havean inner lumen extending therethrough, an upper spine extendinglongitudinally therealong, a lower spine extending longitudinallytherealong, and a plurality of spaced ribs extending between the upperand lower spines on either side (e.g., left and right sides) of theflexible outer shell 43. The first, second, third, and fourth actuationshafts and the RF cable 39 can each extend through the inner lumen ofthe flexible outer shell 43, as shown in FIG. 3. Exemplary embodimentsof flexible outer shells are further described in U.S. Pat. Pub. No.2012/0078247 entitled “Articulation Joint Features For ArticulatingSurgical Device” filed on Sep. 19, 2011, and in U.S. application Ser.No. 14/659,037 entitled “Flexible Neck For Surgical Instruments” filedon Mar. 16, 2015, which are hereby incorporated by reference in theirentireties.

As mentioned above, the second actuator 14 can be configured tofacilitate articulation of the end effector 8, which as also mentionedabove, can include bending or flexing of the flexible outer shell 43.The actuation mechanism operatively connected to the second actuator 14can have a variety of sizes, shapes, and configurations. As in thisillustrated embodiment, the actuation mechanism can be coupled to theproximal handle portion 4 of the device 2 and can include the secondactuator 14, which as described herein can be configured to be manuallyactuated by a user to effect articulation of the end effector 8. FIGS.10 and 11 illustrate the second actuator 14 as a standalone element, andFIGS. 12 and 13 show the second actuator 14 in cross-section. As in thisillustrated embodiment, the second actuator 14 can include a ring-shapedportion configured to be accessible to a user outside the main housing32 and can include an elongate tubular portion extending proximally fromthe ring-shaped portion and being configured to be contained within themain housing 32. The second actuator 14 can thus be cannulated.

The second actuator 14 can include first and second threads 42 a, 42 bformed in an internal surface 14 i thereof. The first thread 42 a can beassociated with the first actuation shaft, and the second thread 42 bcan be associated with the second actuation shaft, as discussed furtherbelow. The first and second threads 42 a, 42 b can be independent fromone another, as in this illustrated embodiment, with each of the firstand second threads 42 a, 42 b defining separate paths. The first andsecond threads 42 a, 42 b can wind in opposite directions around thesecond actuator 14, e.g., one left-handed and one right-handed. Thefirst and second threads 42 a, 42 b can have any length around thesecond actuator's internal surface 14 i. In an exemplary embodiment, thefirst and second threads 42 a, 42 b can have the same length around thesecond actuator's internal surface 14 i, which may facilitatesymmetrical articulation of the end effector 8. The first and secondthreads 42 a, 42 b in this illustrated embodiment includes groovesconfigured to mate with corresponding protrusions configured to slidewithin the grooves. In other embodiments, the first and second threads42 a, 42 b of the second actuator 14 can include protrusions configuredto slidably mate with corresponding grooves.

The second actuator 14 can include an obstacle in the pathway of each ofthe first and second threads 42 a, 42 b. As discussed further below, theobstacles in the first and second threads 42 a, 42 b can be configuredto facilitate auto return of the end effector 8 from an articulatedposition, in which the end effector 8 is angled at a non-zero anglerelative to the shaft assembly's longitudinal axis A, to anunarticulated position in which the end effector 8 is not articulated,e.g., is at a substantially zero angle relative to the longitudinal axisA so as to be in a substantially linear orientation along thelongitudinal axis A.

As in this illustrated embodiment, the obstacle in the pathway of thefirst thread 42 a can include a pair of detents 21 a, 21 b (alsoreferred to as first and second detents 21 a, 21 b) and a pair of ramps23 a, 23 b (also referred to as first and second ramps 23 a, 23 b), andthe obstacle in the pathway of the second thread 42 b can include a pairof detents 25 a, 25 b (also referred to as third and fourth detents 25a, 25 b) and a pair of ramps 27 a, 27 b (also referred to as third andfourth ramps 27 a, 27 b). The first detent 21 a can configured tocooperate with the first ramp 23 a to facilitate auto return of the endeffector 8 from an articulated position in one direction (e.g., right),and the second detent 21 b can configured to cooperate with the secondramp 23 b to facilitate auto return of the end effector 8 from anarticulated position in an opposite direction (e.g., left). Similarly,the third detent 25 a can configured to cooperate with the third ramp 27a to facilitate auto return of the end effector 8 from an articulatedposition in one direction (e.g., right), and the fourth detent 25 b canconfigured to cooperate with the fourth ramp 27 b to facilitate autoreturn of the end effector 8 from an articulated position in an oppositedirection (e.g., left). The first and third detents 21 a, 25 a and ramps23 a, 27 a can thus be configured to cooperate with one another tofacilitate auto return of the end effector 8 from an articulatedposition in one direction (e.g., right), and the second and fourthdetents 21 b, 25 b and ramps 23 b, 27 b can thus be configured tocooperate with one another to facilitate auto return of the end effector8 from an articulated position in an opposite direction (e.g., left).

The second actuator 14 can include a pair of longitudinal cut-outs 19 a,19 b in communication with the first thread 42 a and a pair oflongitudinal cut-outs 45 a, 45 b in communication with the second thread42 b. As discussed further below, the longitudinal cut-outs 19 a, 19 b,45 a, 45 b can be configured to facilitate auto return of the endeffector 8 from its articulated position to its unarticulated position.

As in this illustrated embodiment, the second actuator 14 can include anouter member 14 a and an inner member 14 b at least partially disposedwithin the outer member 14 a. The outer member 14 a can include thering-shaped portion of the second actuator 14. The inner member 14 b caninclude the first and second threads 42 a, 42 b and thus can include theobstacles. A proximal portion of the inner member 14 b can extendproximally from a proximal end of the outer member 14 a, as shown inFIGS. 11-13, and a distal portion of the outer member 14 a can be freeof the inner member 14 b, e.g., a distal end of the inner member 14 bcan terminate a distance proximal to a distal end of the outer member 14a. The relative positioning of the outer and inner members 14 a, 14 bmay facilitate location of the threads 42 a, 42 b relative to thedevice's actuation mechanism disposed within the housing 32 and/or mayfacilitate location of the ring-shaped portion relative to the housing32 and thereby facilitate ease of manual manipulation of the secondactuator 14 by a hand of a user who is holding the device 2.

The outer and inner members 14 a, 14 b can be fixedly attached together,as in this illustrated embodiment, such that the outer and inner members14 a, 14 b can be configured to move together as a unit when the secondactuator 14 is actuated, e.g., when the second actuator 14 is rotatedvia manipulation of the ring-shaped portion. The outer and inner members14 a, 14 b can be fixedly attached together in any of a variety of ways,as will be appreciated by a person skilled in the art, such as bywelding, snap fit, adhesive, etc.

In other embodiments, instead of the second actuator including twodiscrete inner and outer members, the outer and inner members can be anintegral unit such that the second actuator is a single piece, e.g., asingle molded element.

As mentioned above, the second actuator 14 can be operatively connectedto the device's actuation mechanism. The actuation mechanism can includefirst and second nuts 44 a, 44 b, also referred to herein as “drums,”configured to movably mate with the second actuator 14. The first andsecond drums 44 a, 44 b can have a variety of sizes, shapes, andconfigurations. The first nut 44 a can be associated with the firstactuation shaft, and the second nut 44 b can be associated with thesecond actuation shaft, as discussed further below. As in thisillustrated embodiment, each of the first and second drums 44 a, 44 bcan be generally cylindrical in shape and can be cannulated. The firstand second drums 44 a, 44 b can each be configured to be disposed withinthe cannulated interior of the second actuator 14, as illustrated inFIGS. 14-17.

The first drum 44 a can be biased distally, and the second drum 44 b canbe biased proximally. The first and second drums 44 a, 44 b can thus bebiased to opposite directions. The device 2 can include one or morebiasing elements 50 configured to bias the first drum 44 a distally andthe second drum 44 b distally. The one or more biasing elements 50 inthis illustrated embodiment includes a plurality of springs that balanceone another to urge the first drum 44 a in the distal direction and tourge the second drum 44 b in the proximal direction. The bias forceprovided to the first and second drums 44 a, 44 b by the one or morebiasing elements 50 can be overcome during actuation of the secondactuator 14 to move the first and second drums 44 a, 44 b from theirbiased distal and proximal positions, as discussed further below. Asalso discussed further below, the one or more biasing elements 50 can beconfigured to facilitate auto return of the end effector 8 to itsunarticulated position.

The first drum 44 a can have one or more pins 46 coupled thereto, andthe second drum 44 b can have one or more pins 47 coupled thereto. Thepin(s) 46 associated with the first drum 44 a can be configured toslidably move within the first thread 42 a of the second actuator 14,and the pin(s) 47 associated with the second drum 44 b can be configuredto slidably move within the second thread 42 b of the second actuator14. In other embodiments in which the first and second threads 42 a, 42b of the second actuator 14 include protrusions configured to slidablymate with corresponding grooves, the one or more pins of each of thedrums 44 a, 44 b can include grooves configured to engage theprotrusions.

Each of the first drum's associated pin(s) 46 can be configured to bealternately seated in and withdrawn from the first thread 42 a. Thefirst drum's associated pin(s) 46 can thus be configured to retractable,e.g., move radially inward. Each of the first drum's associated pin(s)46 can be biased into being seated in the first thread 42 a, e.g.,biased radially outward. The biasing can be provided by a bias element46 a, which includes a spring in this illustrated embodiment. When abias force applied to the pin 46 by its associated bias element 46 a isovercome, e.g., by interaction of the pin 46 with the first drum'sobstacle, the pin 46 can retract from the first thread 42 a. Similarly,each of the second drum's associated pin(s) 47 can be configured to bealternately seated in and withdrawn from the second thread 42 b. Thesecond drum's associated pin(s) 47 can thus be configured toretractable. Each of the second drum's associated pin(s) 47 can bebiased into being seated in the second thread 42 b. The biasing can beprovided by a bias element 47 a, which includes a spring in thisillustrated embodiment. When a bias force applied to the pin 47 by itsassociated bias element 47 a is overcome, e.g., by interaction of thepin 47 with the second drum's obstacle, the pin 47 can retract from thesecond thread 42 b. As discussed further below, the retraction of thepin(s) 46 from the first thread 42 a and the retraction of the pin(s) 47from the second thread 42 b can cause the end effector 8 to auto returnto its unarticulated position from an articulated position.

Each of the drums 44 a, 44 b is coupled to two pins in this illustratedembodiment. In general, the more pins coupled to a drum, the more stablythe drum may move within the second actuator 14, e.g., within thethreads 42 a, 42 b thereof, and/or the more resistance that must beovercome to retract the pins 46, 47 and thus the less likely that theend effector 8 will be accidentally auto-returned to its unarticulatedorientation. If the drums 44 a, 44 b each include a plurality of pins46, 47, the pins can be equidistantly disposed around a circumference ofthe drum (180° in this illustrated embodiment in which the drums 44 a,44 b each include two pins 46, 47), which may help stabilize movement ofthe drum within the second actuator 14.

In response to actuation of the second actuator 14, e.g., in response toa user's rotation of the second actuator 12, the second actuator 14 canbe configured to rotate about a longitudinal axis A2 (shown in FIGS. 11and 14) thereof. As in this illustrated embodiment, the secondactuator's longitudinal axis A2 can be coaxial with the shaft assembly'slongitudinal axis A. The second actuator 14 can be configured to remainstationary along its longitudinal axis A2 during the rotation. In otherwords, the second actuator 14 can be configured to not move distally orproximally during its rotation. The rotation of the second actuator 14can cause the first and second drums 44 a, 44 b disposed within thesecond actuator 14 and the drums' associated pins 46, 47 threadablyengaged with the second actuator (e.g., the first thread 42 a threadablyengaged with the first drum's pin(s) 46, and the second thread 42 bthreadably engaged with the second drum's pin(s) 47) to simultaneouslymove. The opposed threading of the first and second threads 42 a, 42 bcan cause the first and second drums 44 a, 44 b to move in oppositedirections. One of the first and second drums 44 a, 44 b can moveproximally, and the other of the first and second drums 44 a, 44 b canmove distally. The movement of the first and second drums 44 a, 44 b caninclude longitudinal translation along the second actuator'slongitudinal axis A2, which as in this illustrated embodiment, can alsobe along the shaft assembly's longitudinal axis A. The first and seconddrums 44 a, 44 b can be configured to alternately move distally andproximally during the actuation of the second actuator 14. In otherwords, rotation of the second actuator 14 in a same direction, whetherit be clockwise or counterclockwise, can cause the first drum 44 a tofirst move distally and the second drum 44 b to move proximally, andthen cause the first and second drums 44 a, 44 b to switch directions sothat the first drum 44 a moves proximally and the second drum 44 b movesdistally. The first actuator shaft can be operatively connected to thefirst drum 44 a, as discussed herein, such that the movement of thefirst drum 44 a can cause a force to be applied to the first actuatorshaft and thereby cause corresponding movement of the first actuatorshaft, e.g., longitudinal translation of the first drum 44 a in aproximal direction can cause longitudinal translation of the firstactuator shaft in the proximal direction. The second actuator shaft canbe operatively connected to the second drum 44 b, as discussed herein,such that the movement of the second drum 44 b can cause a force to beapplied to the second actuator shaft and thereby cause correspondingmovement of the second actuator shaft, e.g., longitudinal translation ofthe second drum 44 b in a distal direction can cause longitudinaltranslation of the second actuator shaft in the distal direction. Themovement of the first and second actuator shafts can be configured tocause the end effector 8 to articulate.

The first actuator shaft can be operatively connected to the first drum44 a and the second actuator shaft can be operatively connected to thesecond drum 44 b in a variety of ways. For example, as mentioned above,the first and second stabilizing members 35 a, 35 b can be seated withintheir respective associated drums 44 a, 44 b.

The first and second stabilizing members 35 a, 35 b can be configured tofacilitate actuation of the second actuator 14, and hence facilitatearticulation of the end effector 8, regardless of the rotationalposition of the shaft assembly 6 about the shaft assembly's longitudinalaxis A. In other words, the third actuator 16 can be configured to be atany rotational position about the longitudinal axis A when the secondactuator 14 is actuated to articulate the end effector 8. The rotationof the shaft assembly 6 can rotate the first and second actuation shaftsof the shaft assembly 6, as discussed herein, which adjusts the positionof the first and second actuation shafts relative to the second actuator14 and to the actuation mechanism. The first and second stabilizingmembers 35 a, 35 b can be configured to rotate within and relative totheir respective drums 44 a, 44 b during rotation of the shaft assembly6 in response to actuation of the third actuator 16. Accordingly,regardless of the rotational position of the first and secondstabilizing members 35 a, 35 b relative to their respective drums 44 a,44 b, the first and second actuation shafts coupled to the first andsecond stabilizing members 35 a, 35 b can be moved proximally/distallyin response to the proximal/distal movement of the drums 44 a, 44 bduring actuation of the second actuator 14. Similar to the first andsecond stabilizing members 35 a, 35 b, the third stabilizing member canbe configured to facilitate actuation of the fourth actuator 18, andhence facilitate movement of the cutting element 26, regardless of therotational position of the shaft assembly 6 about the shaft assembly'slongitudinal axis A.

FIGS. 18-25 illustrate an embodiment of the actuation of the secondactuator 14 and the movement of the first and second drums 44 a, 44 b,the first pin(s) 46 coupled to the first drum 44 a, and the secondpin(s) 47 coupled to the second drum 44 b in response thereto, therebycausing movement of the first and second actuation shafts and, hence,causing angular movement of the end effector 8. FIG. 18 illustrates afirst position of the second actuator 14 in which the first and seconddrums 44 a, 44 b are at their outermost positions relative to oneanother, with the first drum 44 a being as far distal as possible forthe first drum 44 a and the second drum 44 b being as far proximal aspossible for the second drum 44 b. With the second actuator 14 in thefirst position and the drums 44 a, 4 b at their farthest from oneanother, the end effector 8 is at its unarticulated position, e.g., at asubstantially zero angle relative to the longitudinal axis A. The firstand second actuation shafts have substantially aligned proximal ends, asshown in FIG. 9, when the end effector 8 is unarticulated.

FIG. 19 illustrates a second position of the second actuator 14 in whichthe second actuator 14 has been rotated 90° from the first position ofFIG. 18, e.g., rotated clockwise. The rotation of the second actuator 14has caused the first drum 44 a to move proximally, as shown by arrow R1pointing proximally, and the second drum 44 b to move distally, as shownby arrow R2 pointing distally. The first drum 44 a has moved within thesecond actuator 14 due to the threaded engagement of the first drum'sfirst pin(s) 46 with the second actuator's first thread 42 a, and thesecond drum 44 b has moved within the second actuator 14 due to thethreaded engagement of the second drum's second pin(s) 47 with thesecond actuator's second thread 42 b. The rotation of the secondactuator 14 has caused the first and second drums 44 a, 44 b to movecloser together so as to be separated from each other by less distancethan in FIG. 18. The proximal movement of the first drum 44 a has causedthe first actuation shaft operatively connected thereto tocorrespondingly move proximally. Similarly, the distal movement of thesecond drum 44 b has caused the second actuation shaft operativelyconnected thereto to correspondingly move distally. The end effector 8has accordingly articulated to the right, e.g., in the first directionD1 (see FIG. 3), from its position in FIG. 18. The RF cable 39, thethird actuation shaft, and the fourth actuation shaft have not moved inresponse to the actuation of the second actuator 14 between FIGS. 18 and19.

FIG. 20 illustrates a third position of the second actuator 14 in whichthe second actuator 14 has been rotated in the same direction (e.g.,clockwise) to be rotated 90° from the second position of FIG. 19 andhence 180° from the first position of FIG. 18. The rotation of thesecond actuator 14 has caused the first drum 44 a to move proximally andthe second drum 44 b to move distally. The rotation of the secondactuator 14 has caused the first and second drums 44 a, 44 b to movecloser together so as to be separated from each other by less distancethan in FIG. 19. The proximal movement of the first drum 44 a has causedthe first actuation shaft operatively connected thereto tocorrespondingly move proximally. Similarly, the distal movement of thesecond drum 44 b has caused the second actuation shaft operativelyconnected thereto to correspondingly move distally. The end effector 8has accordingly articulated further to the right, e.g., in the firstdirection D1 (see FIG. 3), from its position in FIG. 19. The RF cable39, the third actuation shaft, and the fourth actuation shaft have notmoved in response to the actuation of the second actuator 14 betweenFIGS. 19 and 20.

FIGS. 21-23 illustrate a fourth position of the second actuator 14 inwhich the second actuator 14 has been rotated in the same direction(e.g., clockwise) 170° from the third position of FIG. 20 and hence 260°from the second position of FIGS. 19 and 350° from the first position ofFIG. 18. The rotation of the second actuator 14 has caused the firstdrum 44 a to move proximally and the second drum 44 b to move distally.The rotation of the second actuator 14 has caused the first and seconddrums 44 a, 44 b to move closer together so as to be separated from eachother by less distance than in FIG. 20. The first drum's pin(s) 46 haveeach moved over the ramp 23 a and into the detent 21 a adjacent theretoand is positioned therein with the second actuator 14 in the fourthposition. (If the second actuator 14 had been rotated in the oppositedirection, e.g., counterclockwise, the end effector 8 would have insteadarticulated in the opposite direction, e.g., left, and the first drum'spin(s) 46 would have instead moved over the ramp 23 b and into thedetent 21 b.) The distal movement of the first drum 44 a has caused thefirst actuation shaft operatively connected thereto to correspondinglymove distally. Similarly, the second drum's pin(s) 47 have each movedover the ramp 27 a and into the detent 25 a adjacent thereto and ispositioned therein with the second actuator 14 in the fourth position.(If the second actuator 14 had been rotated in the opposite direction,e.g., counterclockwise, the end effector 8 would have insteadarticulated in the opposite direction, e.g., left, and the second drum'spin(s) 47 would have instead moved over the ramp 27 b and into thedetent 25 b.) The proximal movement of the second drum 44 b has causedthe second actuation shaft operatively connected thereto tocorrespondingly move proximally. The end effector 8 has accordinglyarticulated further to the right, e.g., in the first direction D1 (seeFIG. 3), from its position in FIG. 20, and is now at its maximum amountof articulation to the right. The movement of each of the pin(s) 46, 47over their respective ramps 23 a, 25 a can be tactilely felt by a usermanually manipulating the second actuator 14, since more force will berequired to urge the pins 46, 47 over their respective ramps 23 a, 25 athan to merely slide the pins 46, 47 along their respective threads 42a, 42 b, thereby indicating to the user that the end effector 8 has beenfully articulated. The RF cable 39, the third actuation shaft, and thefourth actuation shaft have not moved in response to the actuation ofthe second actuator 14 between FIGS. 20 and 21.

FIG. 24 illustrates a fifth position of the second actuator 14 in whichthe second actuator 14 has been rotated in the same direction (e.g.,clockwise) 10° from the fourth position of FIG. 21 and hence 180° fromthe third position of FIG. 20, hence 270° from the second position ofFIGS. 19, and 360° from the first position of FIG. 18. The rotation ofthe second actuator 14 has caused the first drum 44 a to move distally,as shown by arrow R3, and the second drum 44 b to move proximally, asshown by arrow R4. The rotation of the second actuator 14 has caused thefirst and second drums 44 a, 44 b to move farther apart so as to beseparated from each other by more distance than in FIG. 21. The firstdrum's pin(s) 46 have moved out of their associated detent 21 a andtoward the longitudinal cut-out 19 a adjacent thereto. The distaldirection bias of the first drum 44 a due to the one or more biasingelements 50 can force the pin(s) 46 to slide out of the first thread 42a, into the longitudinal cut-out 19 a where the pin(s) 46 can slidedistally, and back into the first thread 42 a. The first drum 44 a canthus slide distally within the second actuator 14, as shown in FIG. 25,back to its first position of FIG. 18. Similarly, the second drum'spin(s) 47 have moved out of their associated detent 25 a and toward thelongitudinal cut-out 45 a adjacent thereto. The proximal direction biasof the second drum 44 b due to the one or more biasing elements 50 canforce the pin(s) 47 to slide out of the second thread 42 b, into thelongitudinal cut-out 45 a where the pin(s) 47 can slide proximally, andback into the second thread 42 b. The second drum 44 b can thus slideproximally within the second actuator 14 back to its first position ofFIG. 18. The first and second drums 44 a, 44 b can thus each beconfigured to translate longitudinally within the second actuator 14,with the first drum 44 a moving distally and its associated pin(s) 46sliding distally through the longitudinal cut-out 19 a and the seconddrum 44 b moving proximally and its associated pin(s) 47 slidingproximally through the longitudinal cut-out 45 a to return to the firstposition of FIG. 18. The movement of each of the pin(s) 46, 47 out oftheir respective detents 21 a, 25 a can be tactilely felt by a usermanually manipulating the second actuator 14, since more force will berequired to urge the pins 46, 47 out of the detents 21 a, 25 a than tomerely slide the pins 46, 47 along their respective threads 42 a, 42 b,thereby indicating to the user that the end effector 8 is being returnedto its unarticulated position.

The end effector 8 being configured to return to its unarticulatedpositon after the first actuator 14 has been rotated 360° in onedirection (either clockwise or counterclockwise) may help preventover-articulation of the end effector 8, which may break or otherwisedamage the end effector 8 and/or other parts of the device 2. Even if auser continues actuating the second actuator 14 (e.g., continuesrotating the second actuator 14) has been fully articulated to itsmaximum extent either in the left direction or the right direction, theend effector 8 will not be urged to continue articulating, which maystrain the end effector 8 and/or other device 2 components, which maybreak or otherwise damage the end effector 8 and/or other strained partsof the device 2. Instead, the end effector 8 will simply return to itsunarticulated position. The device 2 can be configured to warn the userthat the end effector 8 is about to return to its unarticulated positiondue to the tactile feel discussed above during actuation of the secondactuator 14.

The second actuator 14 can continue rotating in the same direction(e.g., clockwise) after moving back to the first position from the fifthposition, continually moving the first drum 44 a longitudinallyproximally and distally and moving the second drum 44 b alternately tothe first drum 44 a, e.g., distally when the first drum 44 a is movingproximally. The second actuator 14 can be rotated in an oppositedirection (e.g., counterclockwise) at any point, e.g., before, between,or after any of the first, second, third, fourth, and fifth positions,which can allow the end effector's angular position to be angled asdesired during the course of performance of a surgical procedure and/orcan help accommodate right-handed and left-handed users. The secondactuator 14 can stop being rotated at any time so as to hold the endeffector 8 in position, whether articulated or unarticulated.

FIG. 26 illustrates another embodiment of the actuation of the secondactuator 14 and the movement of the first and second drums 44 a, 44 b,the first pin(s) 46 coupled to the first drum 44 a, and the secondpin(s) 47 coupled to the second drum 44 b in response thereto, therebycausing movement of the first and second actuation shafts and, hence,causing angular movement of the end effector 8. In this illustratedembodiment, locations of first and second pins 46′, 47′ in the first andsecond threads 42 a, 42 b, respectively, correspond to the firstposition of the second actuator 14 in which the end effector 8 is in itsunarticulated position. A location of pin 46″ corresponds to theposition of the pin 46′ after the second actuator 18 has been almostrotated 350° from its first position to its fourth position, with thepin 46″ not yet having moved over the ramp 23 b. Similarly, a locationof pin 47″ corresponds to the position of the pin 47′ after the secondactuator 18 has been almost rotated 350° from its first position to itsfourth position, with the pin 47″ not yet having moved over the ramp 27b. A location of pin 46′″ corresponds to the position of the pin 46″after the second actuator 18 has been rotated 350° from its firstposition to its fourth position, with the pin 46′″ being positioned inthe detent 21 b adjacent to the ramp 23 b it just traversed over.Similarly, a location of pin 47′″ corresponds to the position of the pin47″ after the second actuator 18 has been rotated 350° from its firstposition to its fourth position, with the pin 47′″ being positioned inthe detent 25 b adjacent to the ramp 27 b it just traversed over. Alocation of pin 46″ corresponds to the position of the pin 46′″ afterthe second actuator 18 has been rotated 360° from its first position toits fifth position, at which point the pin 46″ is free to slideproximally through the longitudinal cut-out 19 b back to its initialposition (location of the pin 46′). Similarly, a location of pin 47″corresponds to the position of the pin 47′″ after the second actuator 18has been rotated 360° from its first position to its fifth position, atwhich point the pin 47″ is free to slide distally through thelongitudinal cut-out 45 b back to its initial position (location of thepin 47′).

FIGS. 27-30 illustrate another embodiment of a surgical device 100. Thedevice 100 can generally be configured and used similar to the surgicaldevice 2 of the embodiment of FIG. 1 and similar to other embodiments ofsurgical devices described herein. The device 100 can include a proximalhandle portion 102 including a main housing 118, a shaft assembly 104extending distally from the handle portion 102, an end effector (notshown) including a pair of opposed jaws (or, in other embodiments,another type of working element) and being coupled to a distal end ofthe shaft assembly 104 at a pivot joint (not shown), spacers (notshown), electrodes (not shown), a first actuator 106 configured toeffect the opening and closing of the opposed jaws and including a latch106 a, a second actuator 108 configured to effect articulation of theend effector, a third actuator 110 configured to rotate the shaftassembly 104 and the end effector about a longitudinal axis A1 of theshaft assembly 104, a fourth actuator 112 configured to translate acutting element (not shown) along the end effector, a fifth actuator 114configured to turn on and off the application of energy, a sixthactuator 122 configured to cause return of the end effector from anarticulated position to an unarticulated position, an actuationmechanism operatively connected to the second actuator 108 andoperatively connected to the sixth actuator 122, a stationary handle 116including a latch 116 a, stabilizing members each including a pair ofwashers 124 and a clip 126, a bend region (not shown), and a bias spring128 configured to bias the closure trigger 106 open.

The device 100 in this illustrated embodiment includes an electricalconnection 120 configured to couple to a conductive lead (not shown),such as an RF cable, etc., and can hence be powered. In otherembodiments, the surgical device can be unpowered, e.g., not beconfigured to apply energy to tissue.

The second actuator 108 of the device 100 can be configured to effectarticulation of the end effector similar to the second actuator 14 ofthe device 2 discussed above, but the second actuator 108 in thisillustrated embodiment has a different configuration than the secondactuator 14 of the device 2 discussed above. The second actuator 108 inthis illustrated embodiment can generally be configured and used similarto second actuators of surgical devices having articulatable endeffectors described in previously mentioned U.S. patent application Ser.No. 14/658,944 entitled “Methods and Devices for Actuating SurgicalInstruments” filed on Mar. 16, 2015.

The actuation mechanism operatively connected to the second actuator 108can have a variety of sizes, shapes, and configurations. As in thisillustrated embodiment, the actuation mechanism can be coupled to theproximal handle portion 102 of the device 100 and can include the secondactuator 108, which as described herein can be configured to be manuallyactuated by a user to effect articulation of the end effector. As inthis illustrated embodiment, as shown in FIGS. 27-32, the secondactuator 108 can include a ring-shaped portion configured to beaccessible to a user outside the main housing 118 and can include anelongate tubular portion extending proximally from the ring-shapedportion and being configured to be contained within the main housing118. The second actuator 108 can thus be cannulated.

The second actuator 108 can include first and second threads 130 a, 130b formed in an internal surface 108 i thereof. The first thread 130 acan be associated with the first actuation shaft 131 a (see FIG. 32) ofthe device 100, and the second thread 130 b can be associated with thesecond actuation shaft 131 b (see FIG. 32) of the device 100, asdiscussed further below. The first and second threads 130 a, 130 b canbe independent from one another, as in this illustrated embodiment, witheach of the first and second threads 130 a, 130 b defining separatepaths. The first and second threads 130 a, 130 b can wind in oppositedirections around the second actuator 108, e.g., one left-handed and oneright-handed. The first and second threads 130 a, 130 b can have anylength around the second actuator's internal surface 130 i. In anexemplary embodiment, the first and second threads 130 a, 130 b can havethe same length around the second actuator's internal surface 108 i,which can facilitate symmetrical articulation of the end effector. Thefirst and second threads 130 a, 130 b in this illustrated embodimentincludes grooves configured to mate with corresponding protrusionsconfigured to slide within the grooves. In other embodiments, the firstand second threads 130 a, 130 b of the second actuator 108 can includeprotrusions configured to slidably mate with corresponding grooves.

The actuation mechanism can include first and second drums 132 a, 132 b,which are shown in FIGS. 29-33, configured to movably mate with thesecond actuator 108. The second drum 132 b is also shown as a standaloneelement in FIG. 34. The first and second drums 132 a, 132 b can have avariety of sizes, shapes, and configurations. The first nut 132 a can beassociated with the first actuation shaft 131 a, and the second nut 132b can be associated with the second actuation shaft 131 b, as discussedfurther below. As in this illustrated embodiment, each of the first andsecond drums 132 a, 132 b can be generally cylindrical in shape and canbe cannulated. The first and second drums 132 a, 132 b can each beconfigured to be disposed within the cannulated interior of the secondactuator 108, as illustrated in FIGS. 29-32.

The first drum 132 a can be biased distally, and the second drum 132 bcan be biased proximally. The first and second drums 132 a, 132 b canthus be biased to opposite directions. The device 100 can include one ormore biasing elements 134 configured to bias the first drum 132 aproximally and the second drum 132 b distally. The one or more biasingelements 134 in this illustrated embodiment includes a plurality ofsprings that balance one another to urge the first drum 132 a in theproximal direction and to urge the second drum 132 b in the distaldirection. The bias force provided to the first and second drums 132 a,132 b by the one or more biasing elements 134 can be overcome duringactuation of the second actuator 108 to move the first and second drums132 a, 132 b from their biased positions, as discussed further below. Asalso discussed further below, the one or more biasing elements 134 canbe configured to facilitate auto return of the end effector to itsunarticulated position.

As shown in FIGS. 29-33, the first drum 132 a can have first and secondthread blocks 136 a, 136 b coupled thereto, and the second drum 132 bcan have third and fourth thread blocks 136 c, 136 d coupled thereto.The first thread block 136 a is also shown as a standalone element inFIG. 35. Each of the thread blocks 136 a, 136 b, 136 c, 136 d caninclude a protrusion 138 a, 138 b, 138 c, 138 d extending therefrom. Thethread blocks 136 a, 136 b, 136 c, 136 d each include a singleprotrusion 138 a, 138 b, 138 c, 138 d in this illustrate embodiment, butin other embodiments, any one or more of the thread blocks can includemore than one protrusion extending therefrom. The first and secondthread blocks 136 a, 136 b (e.g., the first and second protrusions 138a, 138 b thereof) associated with the first drum 132 a can be configuredto slidably move within the first thread 130 a of the second actuator108, and the third and fourth thread blocks 136 c, 136 d (e.g., thethird and fourth protrusions 138 c, 138 d thereof) associated with thesecond drum 132 b can be configured to slidably move within the secondthread 130 b of the second actuator 108. In other embodiments in whichthe first and second threads 130 a, 130 b of the second actuator 108include protrusions configured to slidably mate with correspondinggrooves, the thread blocks coupled to each of the drums 132 a, 132 b caninclude grooves configured to engage the protrusions.

In response to actuation of the second actuator 108, e.g., in responseto a user's rotation of the second actuator 108, the second actuator 108can be configured to rotate about a longitudinal axis A3 (shown in FIG.28) thereof. As in this illustrated embodiment, the second actuator'slongitudinal axis A3 can be coaxial with the shaft assembly'slongitudinal axis A1. The second actuator 108 can be configured toremain stationary along its longitudinal axis A3 during the rotation. Inother words, the second actuator 108 can be configured to not movedistally or proximally during its rotation. The rotation of the secondactuator 108 can cause the first and second drums 132 a, 132 b disposedwithin the second actuator 108 and threadably engaged therewith via thethread blocks 136 a, 136 b, 136 c, 136 d (e.g., the first thread 130 athreadably engaged with the first and second thread blocks 136 a 136 bvia the first and second protrusions 138 a, 138 b thereof, and thesecond thread 130 b threadably engaged with the third and fourth threadblocks 136 c, 136 d via the third and fourth protrusions 138 c, 138 dthereof) to simultaneously move. The opposed threading of the first andsecond threads 130 a, 130 b can cause the first and second drums 132 a,132 b to move in opposite directions. One of the first and second drums132 a, 132 b can move proximally, and the other of the first and seconddrums 132 a, 132 b can move distally. The movement of the first andsecond drums 132 a, 132 b can include longitudinal translation along thesecond actuator's longitudinal axis A3, which as in this illustratedembodiment, can also be along the shaft assembly's longitudinal axis A1.The first and second drums 132 a, 132 b can be configured to alternatelymove distally and proximally during the actuation of the second actuator108. In other words, rotation of the second actuator 108 in a samedirection, whether it be clockwise or counterclockwise, can cause thefirst drum 132 a to first move distally and the second drum 132 b tomove proximally, and then cause the first and second drums 132 a, 132 bto switch directions so that the first drum 132 a moves proximally andthe second drum 132 b moves distally. The first actuator shaft 131 a canbe operatively connected to the first drum 132 a, as discussed herein,such that the movement of the first drum 132 a can cause a force to beapplied to the first actuator shaft 131 a and thereby causecorresponding movement of the first actuator shaft 131 a, e.g.,longitudinal translation of the first drum 132 a in a proximal directioncan cause longitudinal translation of the first actuator shaft 131 a inthe proximal direction. The second actuator shaft 131 b can beoperatively connected to the second drum 132 b, as discussed herein,such that the movement of the second drum 132 b can cause a force to beapplied to the second actuator shaft 131 b and thereby causecorresponding movement of the second actuator shaft 131 b, e.g.,longitudinal translation of the second drum 132 b in a distal directioncan cause longitudinal translation of the second actuator shaft 131 b inthe distal direction. The movement of the first and second actuatorshafts 131 a, 131 b can be configured to cause the end effector toarticulate.

The first actuator shaft 131 a can be operatively connected to the firstdrum 132 a and the second actuator shaft 131 b can be operativelyconnected to the second drum 132 b in a variety of ways. For example, asmentioned above, and as shown in FIGS. 30 and 32, first and secondstabilizing members can be seated within their respective associateddrums 132 a, 132 b.

The first and second stabilizing members can be configured to facilitateactuation of the second actuator 108, and hence facilitate articulationof the end effector, regardless of the rotational position of the shaftassembly 104 about the shaft assembly's longitudinal axis A1. In otherwords, the third actuator 110 can be configured to be at any rotationalposition about the longitudinal axis A1 when the second actuator 108 isactuated to articulate the end effector. The rotation of the shaftassembly 6 can rotate the first and second actuation shafts 131 a, 132 bof the shaft assembly 104, as discussed herein, which adjusts theposition of the first and second actuation shafts 131 a, 131 b relativeto the second actuator 108 and to the actuation mechanism. The first andsecond stabilizing members can be configured to rotate within andrelative to their respective drums 132 a, 132 b during rotation of theshaft assembly 104 in response to actuation of the third actuator 110.Accordingly, regardless of the rotational position of the first andsecond stabilizing members relative to their respective drums 132 a, 132b, the first and second actuation shafts 131 a, 131 b coupled to thefirst and second stabilizing members can be moved proximally/distally inresponse to the proximal/distal movement of the drums 132 a, 132 bduring actuation of the second actuator 108. Similar to the first andsecond stabilizing members, the third stabilizing member can beconfigured to facilitate actuation of the fourth actuator 112, and hencefacilitate movement of the cutting element, regardless of the rotationalposition of the shaft assembly 104 about the shaft assembly'slongitudinal axis A1.

Each of the first drum's associated thread blocks 136 a, 136 b can beconfigured to be alternately seated in and withdrawn from the firstthread 130 a. The first drum's associated thread blocks 136 a, 136 b canthus be configured to retractable, e.g., move radially inward. Each ofthe first drum's associated thread blocks 136 a, 136 b can be biasedinto being seated in the first thread 130 a, e.g., biased radiallyoutward. The biasing can be provided by a bias element 140 a, 140 b,which includes two springs in this illustrated embodiment that eachengage both of the thread blocks 136 a, 136 b. When a bias force appliedto the thread blocks 136 a, 136 b by their associated bias elements 140a, 140 b is overcome, e.g., by actuation of the sixth actuator 122, thethread blocks 136 a, 136 b can retract from the first thread 130 a.Similarly, each of the second drum's associated thread blocks 136 c, 136d can be configured to be alternately seated in and withdrawn from thesecond thread 130 b. The second drum's associated thread blocks 136 c,136 d can thus be configured to retractable. Each of the second drum'sassociated thread blocks 136 c, 136 d can be biased into being seated inthe second thread 130 b. The biasing can be provided by a bias element140 c, 140 d, which includes two springs in this illustrated embodimentthat each engage both of the thread blocks 136 c, 136 d. When a biasforce applied to the thread blocks 136 c, 136 d by their associated biaselements 140 c, 140 d is overcome, e.g., by actuation of the sixthactuator 122, the thread blocks 136 c, 136 d can retract from the secondthread 130 b. As discussed further below, the retraction of the threadblocks 136 a, 136 b from the first thread 130 a and the retraction ofthe thread blocks 136 c, 136 d from the second thread 130 b can causethe end effector to auto return to its unarticulated position from anarticulated position.

Unlike the device 2 discussed above, the device 100 in the illustratedembodiment of FIG. 27 includes the sixth actuator 122 configured to beactuated to cause end effector auto return. The sixth actuator 122 isshown as a standalone element in FIG. 36. In general, the sixth actuator122 can be configured to be accessible outside of the device's mainhousing 118. In an exemplary embodiment, the sixth actuator 122 can beconfigured to be manually accessed and manipulated from both sides (leftand right) of the device 100, which may facilitate manipulation of thesixth actuator 122 regardless of whether the user manipulating the sixthactuator 122 is left handed or right handed.

The sixth actuator 122 can have a variety of sizes, shapes, andconfigurations. As in this illustrated embodiment, the sixth actuator122 can include a switch configured to be selectively moved to effectauto return of the end effector. Movement of the sixth actuator 122 inone direction (e.g., clockwise) can be configured to cause articulationof the end effector in one direction (e.g., right) and rotation of thesixth actuator 122 in the opposite direction (e.g., counterclockwise)can be configured to cause articulation of the end effector in thesecond direction (e.g., left). The sixth actuator 122 can, as in thisillustrated embodiment, include a cylindrical toggle ring with an innerlumen 122 i extending therethrough so as to be cannulated to allowextension of various elements of the device 100 therethrough, as shownin FIGS. 28, 29, 31, and 32. The sixth actuator 122 can includeprotrusions 122 p thereon configured to be accessible from outside thedevice's main housing 118. The protrusions 122 p can be configured to bemanually pushed with a finger, surgical tool, or other element to urgethe sixth actuator 122 either clockwise or counterclockwise, dependingon a direction of the manually pushing. The second actuator 122 can berigid.

The device 100 can include a pair of reset bars 142 a, 142 b (see FIGS.30 and 32) operatively coupled to the sixth actuator 122. The first andsecond reset bars 142 a, 142 b can have a variety of sizes, shapes, andconfigurations. As in this illustrated embodiment, the reset bars 142 a,142 b can include elongate members, as shown in FIG. 32. FIG. 37 showsthe first bar 142 a as a standalone element. The first reset bar 142 acan have proximal and distal ends 142 p, 142 d. The first reset bar 142a can include first and second cut-outs 143 a, 143 b formed therein. Asshown, the first reset bar 142 a can have a half-moon or semi-circularcross-sectional shape at the cut-outs 143 a, 143 b and can have one ormore other cross sectional shapes at the other portions thereof betweenthe proximal and distal ends 142 p, 142 d. In this illustratedembodiment, the other cross-sectional shape(s) along the first resetbar's longitudinal length include a circular cross-sectional shapetherealong except in a proximal portion where the first reset bar 142 ahas a T-shaped cross-sectional shape. As in this illustrated embodiment,the second reset bar 142 b can be the same as the first reset bar 142 aand similarly include proximal and distal ends and third and fourthcut-outs 143 c, 143 d (see FIG. 32).

The proximal end of each of the reset bars 142 a, 142 b can beconfigured to seat in first and second cavities 144 a, 144 b,respectively, formed in an interior surface of the sixth actuator 122.The reset bars 142 a, 142 b can be configured to move (e.g., rotate)within their respective cavities 144 a, 144 b in response to actuationof the sixth actuator 122 to facilitate end effector auto return, asdiscussed further below. The cavities 144 a, 144 b can thus each have asize and shape that allows movements of their respective reset bars 142a, 142 b therein.

As also shown in FIGS. 32 and 33, the reset bars 142 a, 142 b can extenddistally from the cavities 144 a, 144 b through a cam 148, through asupport member 146 (also shown in FIG. 34A), through the second drum 130b and through holes 150 c, 150 d in the third and fourth thread blocks136 c, 136 d coupled thereto, through the first drum 130 a and throughholes 150 a, 150 b in the first and second thread blocks 136 a, 136 bcoupled thereto, and the second actuator 108. The proximal cut-outs 143b, 143 d of the first and second reset bars 142 a, 142 b can bepositioned within the holes 150 c, 150 d of the third and fourth threadblocks 136 c, 136 d, and the distal cut-outs 143 a, 143 c of the firstand second reset bars 142 a, 142 b can be positioned within the holes150 a, 150 b of the first and second thread blocks 136 a, 136 b. Thereset bars 142 a, 142 b can each have a longitudinal length that allowsthe reset bars 142 a, 142 b to be fully contained within the second andsixth actuators 108, 122, as shown in FIG. 32, which may help preventthe movement of the reset bars 142 a, 142 b from interfering with anyunintended elements of the device 100.

The reset bars 142 a, 142 b can each be operatively coupled to the cam148 (see FIGS. 30, 32, and 38) positioned between a proximal surface ofthe support member 146 and the interior surface of the sixth actuator122 that has the cavities 144 a, 144 b formed therein. As discussedfurther below, the cam 148 can be configured to move and causecorresponding movement of the reset bars 142 a, 142 b within thecavities 144 a, 144 b in response to actuation of the sixth actuator122.

The support member 146 can be configured to be biased to a central,default position. The support member 146 is shown in the central,default position in FIGS. 31-33. The support member 146 can be biased tothe central, default position in a variety of ways, such as with a pairof bias elements 152 a, 152 b, which include springs in this illustratedembodiment, seated in a cavity 154 formed in the proximal surface of thesupport member 146. As discussed further below, the actuation of thesixth actuator 122 (e.g., the pushing thereof in either a clockwise orcounterclockwise direction) can be configured to counteract the biasforce provided by one of the bias elements 152 a, 152 b, with the one ofthe bias forces being counteracted depending on which direction thesixth actuator 122 is moved, and thereby allow the support member 146 tobe moved to an offset position from the central, default position.

FIGS. 38-41 illustrate an embodiment of the actuation of the sixthactuator 122 and the movement of the first and second reset bars 142 a,142 b in response thereto, thereby causing movement of the first andsecond actuation shafts 131 a, 131 b and, hence, causing angularmovement of the end effector. FIGS. 38 and 39 illustrate a first,default position of the sixth actuator 122 in which the support member146 is in its central, default position, the bias elements 140 a, 140 bare biasing the protrusions 138 a, 138 b of the first and second threadblocks 136 a, 136 b into threaded engagement with the first thread 142a, and the bias elements 140 c, 140 d are biasing the protrusions 138 c,138 d of the third and fourth thread blocks 136 c, 136 d into threadedengagement with the second thread 142 b. The planar side of the resetbars' cut-outs 143 a, 143 b, 143 c, 143 d can face radially inward, asshown in FIG. 39 (the proximal cut-outs 143 b, 143 d are obscured inFIG. 39). When the sixth actuator 122 is in first, default position, anyone or more of the first, second, third, fourth, and fifth actuators106, 108, 110, 112, 114 can be actuated any number of times to causetheir various effects.

FIGS. 40 and 41 illustrate a second, actuated position of the sixthactuator 122 in which the sixth actuator 122 has been moved from thefirst, default position of FIGS. 38 and 39. The sixth actuator 122 hasbeen moved clockwise in this illustrated embodiment, as indicated byarrow R5 in FIG. 40. The movement of the sixth actuator 122 can berelative to the second actuator 108 such that the sixth actuator 122rotates around the second actuator 108. The movement of the sixthactuator 122 can cause the first and second reset bars 142 a, 142 b torotate and to slide within the cavities 144 a, 144 b of the sixthactuator 122, as shown in FIG. 40, and to rotate within the holes 150 a,150 b, 150 c, 150 d of the thread blocks 136 a, 136 b, 136 c, 136 d. Themovement (e.g., rotation and sliding) of the first and second reset bars142 a, 142 b can cause the cam 148 to rotate, as shown in FIG. 40. Therotation of the sixth actuator 122 can cause the first and second resetbars 142 a, 142 b to rotate in opposite directions from one another, asshown by arrows R6, R7 in FIG. 41. The rotation of the first and secondreset bars 142 a, 142 b in the holes 150 a, 150 b, 150 c, 150 d of thethread blocks 136 a, 136 b, 136 c, 136 d can cause the planar side ofthe reset bars' cut-outs 143 a, 143 b, 143 c, 143 d to no longer faceradially inward, as shown in FIG. 41 (the proximal cut-outs 143 b, 143 dare obscured in FIG. 41). The reset bars 142 a, 142 b thus begin toexert a force on the thread blocks 136 a, 136 b, 136 c, 136 d thatcounteracts the bias force provided by the bias elements 140 a, 140 b,140 c, 140 d that bias the thread blocks 136 a, 136 b, 136 c, 136 dradially outward. The thread blocks 136 a, 136 b, 136 c, 136 d are thusurged radially inward by the movement of the reset bars 142 a, 142 b, asshown by arrows R8, R9 in FIG. 41, thereby causing the protrusions 138a, 138 b, 138 c, 138 d to become disengaged from the first and secondthreads 130 a, 130 b. In other words, the thread blocks 136 a, 136 b,136 c, 136 d retract radially inward so as to no longer be threadablyengaged with the second actuator 108. With the second actuator 108 nolonger being threadably engaged by the thread blocks 136 a, 136 b, 136c, 136 d, the first and second drums 132 a, 132 b are free tolongitudinally translate within the second actuator 108 to their defaultpositions therein (the first drum 132 a moving proximally and the seconddrum 132 b moving distally), as urged by the biasing elements 134.Accordingly, the first and second actuation shafts 131 a, 131 boperatively coupled to the first and second drums 132 a, 132 b,respectively, can be caused to move proximally (first actuation shaft131 a) or distally (second actuation shaft 131 b). The first and secondshafts 131 a, 131 b will thus no longer be causing articulation of theend effector such that the end effector can return to its unarticulatedposition.

Release of the sixth actuator 122 from its second, actuated position cancause the sixth actuator 122 to automatically return to its first,default position due to the bias elements 152 a, 152 b seated in thesupport member 146 that is operatively coupled to the sixth actuator122.

The sixth actuator 122 can be configured to be actuated to cause endeffector auto return when the end effector is articulated at anynon-zero angle relative to the shaft assembly's longitudinal axis A1.Readjustment of the end effector's angular position may thus be effectedquickly during performance of a surgical procedure.

Although the sixth actuator 122 has been moved clockwise in theillustrated embodiment of FIGS. 38-41 to cause end effector auto return,the sixth actuator 122 can instead be moved counterclockwise to causeend effector auto return, as discussed herein. The counterclockwisemovement of the sixth actuator 122 can cause end effector auto returnsimilar to that discussed above for the clockwise movement of the sixthactuator 122 with various elements (e.g., the cam 148, the reset bars142 a, 142 b, etc.) instead moving in opposite directions than theirdirections of movement in response to clockwise movement of the sixthactuator 122.

FIGS. 42-45 illustrate another embodiment of the actuation of the sixthactuator 122 and the movement of the first and second reset bars 142 a,142 b in response thereto, thereby causing movement of the first andsecond actuation shafts 131 a, 131 b and, hence, causing angularmovement of the end effector. In this illustrated embodiment, the secondactuator 108 is actuated to rotate the shaft assembly 104 and the endeffector prior to the actuation of the sixth actuator 122.

FIG. 42 illustrate the second actuator 108 in a first position in whichthe thread blocks 136 a, 136 b, 136 b, 136 d are threadably engaged withthe first and second threads 130 a, 130 b, respectively. With the firstposition of the second actuator 108, similar to the embodiment of FIG.18 in which the second actuator 14 is in the first position, the endeffector of the device 100 is at its unarticulated position and thefirst and second actuation shafts 131 a, 131 b have substantiallyaligned proximal ends. The sixth actuator 122 is in its first, defaultposition in FIG. 42.

FIG. 43 illustrates a second position of the second actuator 108 inwhich the second actuator 108 has been rotated from the first positionof FIG. 42, e.g., rotated clockwise, to fully articulate the endeffector, e.g., articulate the end effector to its maximum extent in onedirection. The rotation of the second actuator 108 has caused the firstdrum 132 a to move distally, as shown by arrow R10 pointing distally,and the second drum 132 b to move proximally, as shown by arrow R11pointing proximally. The first drum 132 a has moved within the secondactuator 108 due to the threaded engagement of the first and secondthread blocks 136 a, 136 b coupled to the first drum 132 a with thesecond actuator's first thread 130 a, and the second drum 132 b hasmoved within the second actuator 108 due to the threaded engagement ofthe third and fourth thread blocks 136 c, 136 d coupled to the seconddrum 132 b with the second actuator's second thread 130 b. The rotationof the second actuator 108 has caused the first and second drums 132 a,132 b to move farther apart so as to be separated from each other bygreater distance than in FIG. 42. The distal movement of the first drum132 a has caused the first actuation shaft 131 a operatively connectedthereto to correspondingly move distally. Similarly, the proximalmovement of the second drum 132 b has caused the second actuation shaft131 b operatively connected thereto to correspondingly move proximally.The end effector has accordingly articulated to the one side, e.g.,left, from its position in FIG. 42. The sixth actuator 122 has not movedin response to the actuation of the second actuator 108 between FIGS. 42and 43, e.g., has remained in its first position. Also, the RF cable,the third actuation shaft, and the fourth actuation shaft have not movedin response to the actuation of the second actuator 108 between FIGS. 42and 43.

FIG. 44 illustrates the sixth actuator 122 in its second, actuatedposition to which the sixth actuator 122 has been moved from the first,default position of FIGS. 42 and 43 due to actuation of the sixthactuator 122, e.g., rotation of the sixth actuator 122. The actuation ofthe sixth actuator 122 has caused the first and second reset bars 142 a,142 b to rotate from their position in FIGS. 42 and 43, thereby exertinga force on the thread blocks 136 a, 136 b, 136 c, 136 d, with the firstreset bar 132 a exerting a force on the first and third thread blocks136 a, 136 c and the second reset bar 132 b exerting a force on thesecond and fourth thread blocks 136 b, 136 d. The force exerted on thethread blocks 136 a, 136 b, 136 c, 136 d causes the thread blocks 136 a,136 b, 136 c, 136 d to move radially inward from their position in FIGS.42 and 43, as shown by arrows R13 in FIG. 44, and thereby becomedisengaged from the first thread 130 a (first and second thread blocks136 a, 136 b) and the second thread 130 b (third and fourth threadblocks 136 c, 136 d). Accordingly, as shown in FIG. 45, the first andsecond drums 132 a, 132 b are free to longitudinally translate withinthe second actuator 108 to their default positions therein (the firstdrum 132 a moving proximally and the second drum 132 b moving distally).Also, as urged by the biasing elements 134, and the first and secondactuation shafts 131 a, 131 b operatively coupled to the first andsecond drums 132 a, 132 b, respectively, can be caused to moveproximally (first actuation shaft 131 a) or distally (second actuationshaft 131 b). The first and second shafts 131 a, 131 b will thus nolonger be causing articulation of the end effector such that the endeffector can return to its unarticulated position.

Release of the sixth actuator 122 from its second, actuated position ofFIGS. 44 and 45 can cause the sixth actuator 122 to automatically returnto its first, default position of FIGS. 42 and 43 due to the biaselements 152 a, 152 b seated in the support member 146 that isoperatively coupled to the sixth actuator 122.

The sixth actuator 122 has been rotated clockwise in this illustratedembodiment to cause end effector auto return, but as mentioned above,the sixth actuator 122 can instead be rotated counterclockwise tosimilarly cause end effector auto return.

One skilled in the art will appreciate further features and advantagesof the invention based on the above-described embodiments. Accordingly,the invention is not to be limited by what has been particularly shownand described, except as indicated by the appended claims. Allpublications and references cited herein are expressly incorporatedherein by reference in their entirety.

1. A surgical device, comprising: an elongate shaft having alongitudinal axis; an end effector at a distal end of the elongateshaft, the end effector being movable between a first position alignedalong the longitudinal axis and a second position angularly orientedrelative to the longitudinal axis; and a handle coupled to a proximalend of the elongate shaft and having a rotatable actuator disposedthereon, the actuator having a first mode in which movement of the endeffector between the first and second positions is controlled byrotation of the actuator, and the actuator having a second mode in whichthe actuator is operatively disengaged from the end effector such thatthe end effector can move from the second position to the firstposition; wherein rotation of the actuator beyond a predeterminedthreshold amount of rotation is configured to cause the actuator toautomatically move from the first mode to the second mode.
 2. The deviceof claim 1, wherein the actuator is configured to move from the firstmode to the second mode when the end effector is at any non-zero angularorientation relative to the elongate shaft.
 3. The device of claim 1,wherein the actuator is configured to move from the first mode to thesecond mode in response to the rotation of the actuator past a detent.4. The device of claim 1, further comprising first and second movablemembers that are engaged with the actuator and operatively coupled tothe end effector such that rotation of the actuator causes axialtranslation of the first and second movable members to thereby move theend effector between the first and second positions.
 5. The device ofclaim 4, wherein the first and second movable members are threadablyengaged with the actuator until the actuator is rotated beyond thepredetermined threshold amount of rotation.
 6. The device of claim 4,further comprising first and second elongate members extending throughthe elongate shaft, wherein the first movable member includes a firstdrum coupled to the first elongate member, and the second movable memberincludes a second drum coupled to the second elongate member.
 7. Thedevice of claim 6, wherein the actuation of the actuator is configuredto simultaneously move the first drum in a first direction and causeaxial translation of the first elongate member and move the second drumin a second direction and cause axial translation of the second elongatemember, the axial translations of the first and second elongate memberscausing the end effector to move from the first orientation to thesecond orientation, and the second direction being opposite to the firstdirection.
 8. A surgical device, comprising: an elongate shaft extendingdistally from a proximal handle portion; an end effector configured tomove between an unarticulated position, in which the end effector is notarticulated relative to the elongate shaft, and an articulated position,in which the end effector is articulated relative to the elongate shaft;and an actuator configured to be rotated in a first direction with theend effector in the unarticulated position and thereby cause the endeffector to move from the unarticulated position to the articulatedposition, wherein continued rotation of the actuator in the firstdirection is configured to cause the end effector to move from thearticulated position to the unarticulated position.
 9. The device ofclaim 8, wherein the actuator moving past a detent in the continuedrotation of the actuator in the first direction is configured to causethe end effector to move from the articulated position to theunarticulated position.
 10. The device of claim 8, further comprisingfirst and second movable members that are engaged with the actuator andoperatively coupled to the end effector such that the rotation of theactuator in the first direction causes axial translation of the firstand second movable members to thereby move the end effector from thearticulated position to the unarticulated position and from theunarticulated position to the articulated position.
 11. The device ofclaim 10, wherein, with the end effector in the unarticulated position,the first and second movable members are threadably engaged with theactuator; and the continued rotation of the actuator in the firstdirection is configured to cause the first and second movable members tobecome threadably disengaged from the actuator.
 12. The device of claim10, further comprising first and second elongate members extendingthrough the elongate shaft; wherein the first movable member includes afirst drum coupled to the first elongate member, and the second movablemember includes a second drum coupled to the second elongate member;wherein the rotation of the actuator in the first direction isconfigured to simultaneously move the first drum in a first directionand cause axial translation of the first elongate member and move thesecond drum in a second direction and cause axial translation of thesecond elongate member, the second direction being opposite to the firstdirection.
 13. The device of claim 8, wherein rotation of the actuator360° in the first direction is configured to cause the end effector tomove from the articulated position to the unarticulated position.
 14. Asurgical method, comprising: rotating the actuator of claim 8 in thefirst direction with the end effector in the unarticulated position,thereby causing the end effector to move from the unarticulated positionto the articulated position and thereafter rotating the actuator in thefirst direction, thereby causing the end effector to move from thearticulated position to the unarticulated position.
 15. A surgicaldevice, comprising: an elongate shaft extending distally from a proximalhandle portion; an end effector configured to move between anunarticulated position, in which the end effector is not articulatedrelative to the elongate shaft, and an articulated position, in whichthe end effector is articulated relative to the elongate shaft; a firstactuator at the proximal handle portion configured to be actuated withthe end effector in the unarticulated position and thereby cause the endeffector to move from the unarticulated position to the articulatedposition; and a second actuator at the proximal handle portionconfigured to be actuated with the end effector in the articulatedposition and thereby cause the end effector to move from the articulatedposition to the unarticulated position.
 16. The device of claim 15,further comprising a drum operably coupled to the end effector; whereinthe actuation of the first actuator is configured to cause the drum,which has a thread threadably engaged with a thread of the firstactuator, to move and thereby cause the end effector to move from theunarticulated position to the articulated position; and wherein theactuation of the second actuator is configured to cause the thread ofthe first actuator to become disengaged from the thread of the drum. 17.The device of claim 16, wherein the thread of the first actuatorincludes first and second threads; the drum includes a first drum with athread and a second drum with a thread; the actuation of the secondactuator is configured to cause the first thread of the first actuatorto become disengaged from the thread of the first drum and the secondthread of the first actuator to become disengaged from the thread of thesecond drum.
 18. The device of claim 17, wherein the actuation of thefirst actuator is configured to cause the first drum to move in a distaldirection and to cause the second drum to move in a proximal direction.19. The device of claim 15, wherein the first actuator is configured tobe actuated by rotating relative to the elongate shaft and the secondactuator.
 20. A surgical method, comprising: actuating the firstactuator of claim 15 with the end effector in the unarticulated positionand thereby causing the end effector to move from the unarticulatedposition to the articulated position; and actuating the second actuatorof claim 15 with the end effector in the articulated position andthereby causing the end effector to move from the articulated positionto the unarticulated position.